Calculation of the time to collision for a vehicle
Based on the assumption that a preceding vehicle does not brake to a halt, but only reduces its speed for a certain time, an improved TTC (Time To Collision) can be calculated. By means of the difference between the TTC with braking to a halt and the improved TTC, a probability for the occurrence of a hypothesis concerning the further behavior of the preceding vehicle can be reduced.
1. A method for an egovehicle for determining a first collision time with a preceding vehicle comprising:
establishing a distance from the preceding vehicle;
establishing a relative speed of the preceding vehicle with respect to the egovehicle;
establishing a deceleration of the preceding vehicle;
assuming a duration of the deceleration of the preceding vehicle such that the assumed duration of the deceleration is less than a period of time for which the deceleration of the preceding vehicle would need to continue in order to cause the preceding vehicle to come to a halt;
determining the first collision time with the preceding vehicle from the relative speed, the distance, the deceleration and the assumed duration of the deceleration.
2. The method according to claim 1 , wherein
the distance from the preceding vehicle, the relative speed of the preceding vehicle with respect to the egovehicle and the deceleration of the preceding vehicle are established again during the assumed duration of the deceleration;
a further duration of the deceleration of the preceding vehicle is assumed such that the assumed further duration of the deceleration is less than a period of time for which the deceleration of the preceding vehicle would need to continue in order to cause the preceding vehicle to come to a halt; and
a current collision time with the preceding vehicle is determined from the relative speed, the distance, the deceleration and the further duration of the deceleration.
3. The method according to claim 1 , wherein
a probability of occurrence for a hypothetical behavior of the preceding vehicle is assumed, the hypothetical behavior of the preceding vehicle being selected from a group consisting of turning out of a current lane of travel and reducing its speed, but not stopping, within the current lane of travel;
in addition, in particular,
an additional collision time is determined from the distance and the relative speed of the preceding vehicle with respect to the egovehicle, and
a correction value, which corrects the probability for the hypothetical behavior of the preceding vehicle, is calculated from the additional collision time and the first collision time.
4. The method according to claim 1 , wherein
the assumed duration of the deceleration depends on an assumed speed reduction of the preceding vehicle, wherein the assumed duration of the deceleration is calculated from a quotient of an assumed lowered speed of the preceding vehicle and the established level of the deceleration of the preceding vehicle, wherein the assumed speed reduction of the preceding vehicle refers to a speed difference of the preceding vehicle before and after braking, wherein uniform constant braking is assumed so that the speed difference results from a duration of the braking at a constant deceleration.
5. The method according to claim 4 , wherein
the level of the assumed speed reduction is less than 10 m/s and greater than 3 m/s.
6. The method according to claim 1 , wherein
the assumed duration of the deceleration depends on a level of the deceleration or the distance of the preceding vehicle.
7. The method according to claim 1 , wherein
the assumed duration of the deceleration of the preceding vehicle is at least 1 second.
8. The method according to claim 3 , wherein
the collision time or the correction value is used for the reaction of the egovehicle, in particular a warning message to a driver.
9. The method according to claim 8 , wherein
the reaction of the egovehicle, in particular a warning message to a driver, is delayed depending on the first or current collision time or the correction value.
10. A device, comprising:
a detecting unit, in particular radar or camera equipment, for detecting a distance and a relative speed of a preceding vehicle;
a determining unit for determining a deceleration of the preceding vehicle; and
a calculating unit for performing operations comprising:
establishing the distance from the preceding vehicle;
establishing the relative speed of the preceding vehicle with respect to the egovehicle;
establishing the deceleration of the preceding vehicle;
assuming a duration of the deceleration of the preceding vehicle such that the assumed duration of the deceleration is less than a period of time for which the deceleration of the preceding vehicle would need to continue in order to cause the preceding vehicle to come to a halt;
determining a first collision time with the preceding vehicle from the relative speed, the distance, the deceleration and the assumed duration of the deceleration.